CN111003075A - High-elasticity-jump composite multi-foot robot - Google Patents
High-elasticity-jump composite multi-foot robot Download PDFInfo
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- CN111003075A CN111003075A CN201911295659.3A CN201911295659A CN111003075A CN 111003075 A CN111003075 A CN 111003075A CN 201911295659 A CN201911295659 A CN 201911295659A CN 111003075 A CN111003075 A CN 111003075A
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- 239000002131 composite material Substances 0.000 title claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 238000000034 method Methods 0.000 claims abstract description 14
- 230000001133 acceleration Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 description 5
- 230000000875 corresponding effect Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/028—Micro-sized aircraft
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Abstract
The invention discloses a high-elasticity-bounce composite multi-legged robot, which comprises a robot main body and a walking device, wherein the walking device is arranged at the bottom of the robot main body; a plurality of aircrafts capable of improving the balance and the bouncing force of the robot main body are symmetrically arranged in the robot main body, and an upper convection hole and a lower convection hole corresponding to the aircrafts are arranged on the robot main body; the walking device comprises a telescopic part and a fixing part, one end of the telescopic part is connected with the lower part of the robot main body, the other end of the telescopic part extends towards a plurality of directions and is connected with one end of the fixing part, the other end of the fixing part is contacted with the ground, and the robot main body is supported to finish the walking or bouncing process through the telescopic part; compared with the prior art: through having added four shaft air vehicle, more steady during messenger's spring, adopt triaxial parallel motion running gear, make the robot more nimble convenient than the robot in the past.
Description
Technical Field
The invention relates to a high-elasticity-jump composite multi-legged robot.
Background
In the prior art, artificial intelligence is always in a research and development stage, particularly for robots, the existing robots are various, and the robots with two feet, four feet or more feet are still very stable in walking movement, but are still lack in the aspects of bouncing force and flexibility.
Disclosure of Invention
In view of the above, the present invention provides a high-bounce composite multi-legged robot and solves at least one of the problems of the prior art.
In order to solve the problems in the prior art, the invention provides the following scheme;
a high-elasticity-jump composite multi-legged robot comprises a robot main body and a walking device, wherein the walking device is arranged at the bottom of the robot main body;
a plurality of aircrafts capable of improving the balance and the bouncing force of the robot main body are symmetrically arranged in the robot main body, and an upper convection hole and a lower convection hole corresponding to the aircrafts are arranged on the robot main body;
the walking device comprises a telescopic part and a fixing part, one end of the telescopic part is connected with the lower part of the robot main body, the other end of the telescopic part extends towards multiple directions and is connected with one end of the fixing part, and the other end of the fixing part is in contact with the ground to support the robot main body to finish the walking or bouncing process through the telescopic part; the telescopic part comprises a plurality of telescopic shafts, the fixed part comprises a plurality of fixed shafts, the telescopic shafts are connected with the fixed shafts through a rotatable joint, the other end of each fixed shaft is a ground falling part, and the other end of each telescopic shaft is an installation part;
the robot main body comprises a CPU and an infrared sensor for detecting the bounce height, the infrared sensor is connected with the input end of the CPU, and the control end of the telescopic part is connected with the output end of the CPU;
when the robot main body bounces, the walking device provides a bouncing force through the stretching of the stretching portion, the infrared sensor detects the bouncing height of the robot main body, and the aircraft assists the robot main body to stably rise to a set height.
Further, still be equipped with angular acceleration gyroscope, the light stream that measures the main part of the robot and remove the sensor, gather the microphone of sound information transmission instruction in the main part of the robot, angular acceleration gyroscope is connected with the CPU input, can cooperate the telescopic shaft to accomplish and turn to the walking, microphone output, light stream remove the sensor and are connected with the CPU input.
Furthermore, the telescopic shaft, the rotatable joint and the fixed shaft are all provided with three.
Further, the telescopic shaft comprises a telescopic motor, a loop bar and an inner rod, one end of the inner rod is located in the loop bar, the telescopic motor is connected with one end of the inner rod, a sliding rail for the telescopic motor to move is arranged on the inner wall of the loop bar, and the telescopic motor is movably fixed on the sliding rail.
Furthermore, the telescopic shaft and the mounting part, the telescopic shaft and the rotatable joint, the fixed shaft and the rotatable joint, and the fixed shaft and the ground falling part are movably connected in a spherical hinge mode.
Further, a foot part can be arranged below the landing part.
The invention has the beneficial effects that: by adding the aircraft, the robot is more stable during bouncing, and the three-axis parallel motion walking mechanism is adopted, so that the robot is more flexible and convenient than the original robot.
Drawings
FIG. 1 is a top view of the present invention;
FIG. 2 is a left side view of the present invention;
FIG. 3 is a schematic view of a connection mode of the walking device;
FIG. 4 is a schematic view of a telescopic shaft;
fig. 5 is a control schematic diagram of the present invention.
In the figure, 1, a robot main body, 2, an aircraft, 3, a telescopic shaft, 4, a fixed shaft, 5, an infrared sensor, 6, an optical flow movement sensor, 7, a microphone, 8, a CPU, 9, an installation part, 10, a rotatable joint, 11, a landing part, 12, a telescopic motor, 13, a loop bar, 14, an inner bar, 15, an angular acceleration gyroscope, 16 and a foot part.
Detailed Description
The invention will be further elucidated on the basis of the figures and some embodiments.
In fig. 1-5, a high-bounce composite multi-legged robot comprises a robot main body 1 and a walking device, wherein the walking device is arranged at the bottom of the robot main body 1; a plurality of aircrafts 2 capable of improving the balance and the bouncing force of the robot main body 1 are arranged in the robot main body 1, and an upper convection hole and a lower convection hole corresponding to the aircrafts are arranged on the robot main body 1; the walking device comprises a telescopic part and a fixing part, one end of the telescopic part is connected with the lower part of the robot main body 1, the other end of the telescopic part extends towards multiple directions and is connected with one end of the fixing part, the other end of the fixing part is contacted with the ground, and the robot main body 1 is supported to finish the walking or bouncing process through the telescopic part; the telescopic part comprises a plurality of telescopic shafts 3, the fixed part comprises a plurality of fixed shafts 4, the telescopic shafts 3 and the fixed shafts 4 are connected through a rotatable joint 10, the other end of each fixed shaft 4 is a grounding part 11, and the other end of each telescopic shaft 3 is an installation part 9; the robot main body 1 comprises a CPU8 and an infrared sensor 5 for detecting the bounce height, wherein the infrared sensor 5 is connected with the input end of a CPU8, and the control end of the telescopic part is connected with the output end of the CPU 8.
In the embodiment, the convection holes are formed in the robot body 1 above and below the aircraft 2, so that when the aircraft 2 rotates, a pressure difference is formed, and the lower pressure of the aircraft 2 is greater than the upper pressure, so that the robot body 1 is provided with a rising traction force, and the bounce of the robot body is assisted.
In the present embodiment, at least two, preferably 2-4, aircraft 2 are provided; the number of the walking devices is at least two, preferably 2-4.
In this embodiment, feet 16 with different shapes can be arranged below the floor part 11 to increase the friction force with the ground to increase the stability; the foot 16 may be human foot shaped, dog foot shaped, or the like.
In this embodiment, the robot main body 1 is further provided with an angular acceleration gyroscope 15, an optical flow motion sensor 6 for measuring the motion data of the robot main body 1, and a microphone 7 for collecting a voice information transmission instruction, the angular acceleration gyroscope 15 is connected with the input end of the CPU8 and can complete steering and walking by matching with the telescopic shaft 3, and the output end of the microphone 7 and the optical flow motion sensor 6 are connected with the input end of the CPU 8.
In this embodiment, the angular acceleration gyroscope 15 is used to control the walking direction, detect the angular acceleration in the horizontal direction, and transmit the detected direction data to the CPU8 in real time, and the CPU8 processes the received data signal, converts the processed data signal into an electric signal, and transmits the electric signal to the telescopic motors 12, so that the plurality of telescopic motors 12 perform different telescopic motions to maintain a balanced walking state, and perform steering or linear walking.
In the present embodiment, the optical flow movement sensor 6 functions to: the movement data of the robot main body 1 may be detected to control the speed thereof, the movement data is reflected by a distance of a route through which a light beam passes, and the data information detected in real time is transmitted to the CPU8, and the CPU8 processes the received information and transmits an electric signal to the telescopic motor 12 to slow or speed up the operating frequency of the telescopic motor 12, thereby controlling the movement speed of the robot main body 1.
In this embodiment, the microphone 7 is used for detecting the command information, the microphone 7 collects the voice signal issued by the user and transmits the voice signal to the CPU8, the CPU8 processes the voice signal and converts the processed voice signal into an electrical signal to transmit the electrical signal to the telescopic motor 12, so that the telescopic motor 12 performs corresponding actions, for example, when issuing a command of "jump one meter", the voice information collected by the microphone 7 is processed and transmitted to the telescopic motor 12 by the CPU8, and the telescopic motor 12 performs the same actions at this time, and the actions are firstly shortened rapidly and then lengthened rapidly and bounce upwards.
In this embodiment, the infrared sensor 5 is used for detecting the height between the bottom of the robot body 1 and the ground, so as to detect the bounce height of the robot body 1, the infrared sensor 5 transmits the height information detected in real time to the CPU8, the CPU8 processes the height information, processes the instruction information of the microphone 7, outputs an electric signal to the telescopic motor 12, and controls the length of the telescopic motor to be shortened rapidly, thereby reducing or increasing the bounce strength and bouncing the telescopic motor to a certain height.
In this embodiment, the effect of the aircraft 2 is that the stability of the robot main body 1 can be increased in the process of high jump, and the working principle of the aircraft is the same as that of a four-axis aircraft in the prior art, specifically as follows: four propellers of the aircraft 2 are simple mechanisms with direct connection of motors, and the crossed layout allows the aircraft to obtain the force for rotating the aircraft body by changing the rotating speed of the motors, so that the self posture is adjusted.
In the embodiment, the propeller of the aircraft 2 receives the electric signal of the CPU8 to rotate during the bouncing process, so that the lower air pressure of the propeller is higher than the upper air pressure, the robot body 1 can be propelled upwards to assist the bouncing, and the propeller has the same rotating speed and certain stability.
In the present embodiment, the CPU8 is a central processing unit, and can process the sensing signal and then transmit the signal to the driving unit to perform corresponding operations, in the same manner as the central processing unit in the conventional robot main body 1.
In this embodiment, the telescopic shaft 3, the rotatable joint 10 and the fixed shaft 4 are all provided with three parts, and the triangular structure has more stability, so that the robot main body 1 can be more stable and flexible in the walking process.
In this embodiment, telescopic shaft 3 includes telescopic motor 12, loop bar 13, interior pole 14, and interior pole 14 one end is located loop bar 13, and telescopic motor 12 is connected with interior pole 14 one end, and the loop bar 13 inner wall is equipped with the slide rail that supplies telescopic motor 12 to move, and telescopic motor 12 is portable to be fixed on the slide rail.
In this embodiment, the telescopic motor 12 is a linear motor commonly used in the prior art, and the telescopic motor 12 moves inside the track to drive the inner rod 14 to move, thereby implementing the telescopic function.
In this embodiment, the telescopic shaft 3 and the mounting portion 9, the telescopic shaft 3 and the rotatable joint 10, the fixed shaft 4 and the rotatable joint 10, and the fixed shaft 4 and the floor portion 11 are all movably connected by a spherical hinge, so that the fixed shaft 4 and the telescopic shaft 3 can have certain flexibility by the connection of the spherical hinge.
In the embodiment, the model of the CPU8 is AT89C2051 or TMS320VC 5509A; the model of the infrared sensor 5 is GP2Y0A41SK0F or SW-LDS50A and the like; the model of the optical flow movement sensor 6 is ADNS-3080 or KMSI001C and the like; the model of the angular acceleration gyroscope is PA-3ARG-01 or WT 901C.
In the embodiment, in specific implementation: send specific voice command through the user, microphone 7 gathers voice command, transmits to the microcontroller, and the microcontroller exports flexible motor 12, controls a plurality of flexible motors 12 and moves simultaneously or not simultaneously, and when at the straight line or when turning to the motion, flexible motor 12 can make the motion of motionless action to keep walking balanced, when the bounce, aircraft 2 rotates, supplementary jump, and flexible motor 12 can be simultaneously and do the motion of same action, carries out the operation of bouncing.
It is worth mentioning that: in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; may be a mechanical connection; the circuits described in the present invention are all circuits commonly used in the art, and other related components are all components commonly used in the art, and a person skilled in the art can understand the specific meaning of the above terms in the present invention according to specific situations.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (6)
1. A high-elasticity-jump composite multi-legged robot comprises a robot main body and a walking device, wherein the walking device is arranged at the bottom of the robot main body; the method is characterized in that:
a plurality of aircrafts capable of improving the balance and the bouncing force of the robot main body are symmetrically arranged in the robot main body, and an upper convection hole and a lower convection hole corresponding to the aircrafts are arranged on the robot main body;
the walking device comprises a telescopic part and a fixing part, one end of the telescopic part is connected with the lower part of the robot main body, the other end of the telescopic part extends towards multiple directions and is connected with one end of the fixing part, and the other end of the fixing part is in contact with the ground to support the robot main body to finish the walking or bouncing process through the telescopic part; the telescopic part comprises a plurality of telescopic shafts, the fixed part comprises a plurality of fixed shafts, the telescopic shafts are connected with the fixed shafts through a rotatable joint, the other end of each fixed shaft is a ground falling part, and the other end of each telescopic shaft is an installation part;
the robot main body comprises a CPU and an infrared sensor for detecting the bounce height, the infrared sensor is connected with the input end of the CPU, and the control end of the telescopic part is connected with the output end of the CPU;
when the robot main body bounces, the walking device provides a bouncing force through the stretching of the stretching portion, the infrared sensor detects the bouncing height of the robot main body, and the aircraft assists the robot main body to stably rise to a set height.
2. The high-bounce composite multi-legged robot according to claim 1, characterized in that: the robot is characterized in that an angular acceleration gyroscope, a light stream movement sensor for measuring movement data of the robot body and a microphone for collecting sound information transmission instructions are further arranged in the robot body, the angular acceleration gyroscope is connected with the input end of the CPU and can be matched with the telescopic shaft to complete steering and walking, and the output end of the microphone and the light stream movement sensor are connected with the input end of the CPU.
3. The high-bounce composite multi-legged robot according to claim 1, characterized in that: the telescopic shaft, the rotatable joint and the fixed shaft are all provided with three parts.
4. The high-bounce composite multi-legged robot according to claim 3, characterized in that: the telescopic shaft comprises a telescopic motor, a loop bar and an inner rod, one end of the inner rod is located in the loop bar, the telescopic motor is connected with one end of the inner rod, a slide rail for the telescopic motor to move is arranged on the inner wall of the loop bar, and the telescopic motor is movably fixed on the slide rail.
5. The high-bounce composite multi-legged robot according to claim 4, characterized in that: the telescopic shaft and the mounting part, the telescopic shaft and the rotatable joint, the fixed shaft and the rotatable joint, and the fixed shaft and the ground falling part are movably connected in a spherical hinge mode.
6. The high-bounce composite multi-legged robot according to claim 5, characterized in that: a foot part can be arranged below the landing part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911295659.3A CN111003075A (en) | 2019-12-16 | 2019-12-16 | High-elasticity-jump composite multi-foot robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911295659.3A CN111003075A (en) | 2019-12-16 | 2019-12-16 | High-elasticity-jump composite multi-foot robot |
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| CN111003075A true CN111003075A (en) | 2020-04-14 |
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| CN201911295659.3A Pending CN111003075A (en) | 2019-12-16 | 2019-12-16 | High-elasticity-jump composite multi-foot robot |
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| CN108860360A (en) * | 2018-08-01 | 2018-11-23 | 清华大学深圳研究生院 | A kind of system of quadruped robot obstacle jump |
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| CN109850025A (en) * | 2019-02-26 | 2019-06-07 | 浙江大学 | A kind of single leg robot mechanism and control method of metope jump |
| CN211417447U (en) * | 2019-12-16 | 2020-09-04 | 湖北第二师范学院 | High-elasticity-jump composite multi-foot robot |
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2019
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Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002103253A (en) * | 2000-09-28 | 2002-04-09 | Sony Corp | Leg type moving robot and mounting structure of leg part |
| CN102107688A (en) * | 2011-03-24 | 2011-06-29 | 天津理工大学 | Dual-leg travelling mechanism with adjustable joint length |
| CN102632935A (en) * | 2012-04-18 | 2012-08-15 | 东南大学 | Ricochet robot capable of gliding |
| CN107009831A (en) * | 2017-04-19 | 2017-08-04 | 王莎莎 | A kind of town road is used can flying robot |
| CN107094584A (en) * | 2017-04-26 | 2017-08-29 | 仲松梅 | It is a kind of to be used for the robot in municipal gardens |
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